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# Author: Jose Luis Blanco
# Based on script by Blaise Gassend

PACKAGE='kinect_2d_scanner'
import roslib; roslib.load_manifest(PACKAGE)

from math import pi

from driver_base.msg import SensorLevels
from dynamic_reconfigure.parameter_generator import *

gen = ParameterGenerator()
#       Name                        Type     Reconfiguration level             Description                                                    Default    Min   Max
gen.add("vert_half_FOV_up",       double_t, SensorLevels.RECONFIGURE_RUNNING,  "The upper part of the vertical FOV (degrees).",                  5,       1,  89)
gen.add("vert_half_FOV_low",      double_t, SensorLevels.RECONFIGURE_RUNNING,  "The lower part of the vertical FOV (degrees).",                  5,       1,  89)
gen.add("oversampling_ratio",     double_t, SensorLevels.RECONFIGURE_RUNNING,  "Ratio 2D scan rays / Kinect range image columns.",               1.2,     1.1,  3)
gen.add("frame_id",               str_t,    SensorLevels.RECONFIGURE_RUNNING, "The frame in which laser scans will be returned",            "/laser")
gen.add("show_GUI",               bool_t,   SensorLevels.RECONFIGURE_RUNNING,  "Whether to show or not the custom GUI with live data.",                     False)
gen.add("show_3d_points",         bool_t,   SensorLevels.RECONFIGURE_RUNNING,  "If GUI enabled: Show 3D point cloud?",                             True)
gen.add("show_2d_scan",           bool_t,   SensorLevels.RECONFIGURE_RUNNING,  "If GUI enabled: Show 2D equivalent scan?",                         True)
gen.add("show_frustum",           bool_t,   SensorLevels.RECONFIGURE_RUNNING,  "If GUI enabled: Show 3D frustum volume for obstacles?",            True)
exit(gen.generate(PACKAGE, "kinect_2d_scanner", "TKinect2DScanner"))

